/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "Headfiles.h"
#include "Motor.h"
#include "PID.h"
#include "N100.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
uint8_t car_data[1];
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  MX_USART3_UART_Init();
  /* USER CODE BEGIN 2 */
	Motor_Init();
	
	pid_init(&motorA, DELTA_PID, 10, 9, 5);		// 增量式（暂时够用）
	pid_init(&motorB, DELTA_PID, 10, 9, 5);		// 增量式（暂时够用）
	pid_init(&angle, POSITION_PID, 7, 0, 3);	// 位置式（I 设为 0 避免累积误差）
	
	HAL_UART_Receive_IT(&huart1, car_data, 1);
	HAL_UART_Receive_IT(&huart3, &uart3_rx_byte, 1);
	HAL_TIM_Base_Start_IT(&htim3);
    HAL_TIM_Base_Start_IT(&htim4);
  
	printf("Reset\r\n");
  
	car_forward(40000);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
	TTL_Hex2Dec();
	printf("%.2f, %.2f\n", yaw_mapped, yaw_fixed);
//	printf("%.0f,%.0f\n", motorA.now, motorB.now);
//	printf("%.2f, %.2f, %.2f\n",Roll_Deg, Pitch_Deg, Yaw_Deg);
//	printf("%.0f, %.0f\n", motorA.now, motorB.now);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
//以下为多个中断回调函数
/* 串口回调函数在N100.c里，被我写成屎山了！现象成功后再修改！！！ */
//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) // UART串口中断
//{
//    if(huart->Instance == USART1)
//    {
//        if(car_data[0] == 0x11)
//        {
//            car_forward(100);
//        }
//        
//        HAL_UART_Receive_IT(&huart1, car_data, 1);
//    }
//	
//	
//}

/*编码器引脚：

E1A->PA0
E1B->PA1

E2A->PB3
E2B->PB4
*/
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) // EXTI外部中断
{
    if (GPIO_Pin == GPIO_PIN_0) // PA0，左边电机，电机1
    {
        if (HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_1) == GPIO_PIN_SET) Encoder_Count1--;
        else Encoder_Count1++;
    }
    if (GPIO_Pin == GPIO_PIN_3) // PB3，右边电机，电机2
    {
        if (HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_4) == GPIO_PIN_SET) Encoder_Count2++;
        else Encoder_Count2--;
    }
}

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) // TIM定时器中断
{
    if(htim->Instance == TIM3) // TIM3，10ms中断一次
    {
        pid_control();
    }  
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
